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Expose Ceres solver thresholds in incremental mapping - #4892
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ahojnnes merged 4 commits intoOct 28, 2026
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Add CHECK_OPTION_GE(..., 0) for all five solver thresholds in IncrementalPipelineOptions::Check(), so negative values fail validation instead of silently changing solver selection. Also note in the header that the defaults mirror CeresBundleAdjustmentOptions.
ahojnnes
enabled auto-merge (squash)
October 27, 2026 08:18
Fixes the ClangTidy performance-inefficient-vector-operation error (push_back in a loop) that also caused the Coverage job to be cancelled by matrix fail-fast.
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I could not reproduce the Windows automatic reconstruction failure locally. I built the failed CI merge commit ( |
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## Summary - Integrate all 12 upstream commits after the shared base 9371f7b, including LoMa BF16 loading, matching-worker error propagation, keypoint shape scaling, and project-file CLI overrides. - Preserve the fork's CUDA blocking-sync helper alongside upstream's BF16 device check and register the shared CUDA test once. ## Validation - Resolved all merge conflicts; no conflict markers or unmerged paths remain; git diff --check passes. - Incremental Linux CUDA build linked six focused test executables. The prepared custom Ceres closure required its existing Abseil/CUDA library directories on the linker's search path. - CTest passed controllers/base_option_manager_test, feature_matching_utils_test, incremental_pipeline_test, option_manager_test, feature/loma_test, and util/cuda_test (six programs, one run each). - No full suite, Python binding, end-to-end, or performance claim. ## Upstream commits - `ea470c0c4f4a40a3bdfa33d01eb38375c5df64de` Run Windows and remaining pycolmap CI only with the full-ci label (colmap#4904) - `c0339e95482c404b51f38ff9b86866de495984f0` Fix MSVC warnings C4805, C4996, and C4756 (colmap#4910) - `f00d6063bb0b120cf10ee190f7f06f4a34edf432` Expose Ceres solver thresholds in incremental mapping (colmap#4892) - `978a4467f36bbfc9ae18780f2dca253000b0d008` Keep division-camera derivatives finite on the optical axis (colmap#4888) - `98f31541f483788ab550f5c4a4e0804e8674b9e0` Fix leak and check covariance in CovarianceWeightedCostFunction (colmap#4911) - `a467519441171054c7aaa17dffe86fe06431f05c` Avoid stack overflow when compressing union-find chains (colmap#4906) - `404b83db2c2cc04892e14a578ddfa73e0ac9bfb1` Fix LoMa bf16 fallback on CUDA by loading it like any other model (colmap#4924) - `d02e6701dede22eaeee89f73784a8c79f6f289ac` Add max_num_features option to automatic_reconstructor and benchmark (colmap#4907) - `82c3b5db78d96a7e93ca7b8b2af0634e28aa33f4` Propagate errors of feature matching workers instead of terminating (colmap#4921) - `4afe8d1156a71a2ff33974895f221c8eb3740cb1` Rescale keypoint shapes in image coordinates (colmap#4926) - `ce2b5ab9df3801c2b75edbba338c04ad3c8cc6af` Fix vocabulary tree builder descriptor dimensions (colmap#4923) - `f956ce629c21a88d75a7f7b3107298d1faf3dcf3` Fix command-line overrides for project files (colmap#4902)
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Closes #4446.
This implements the threshold-exposure alternative: callers can configure the existing Ceres solver-selection thresholds for incremental mapping without rebuilding COLMAP. The copy-returning BA getters and the broader BA options structure are unchanged.
Changes
IncrementalPipelineOptions,Mapper.ba_*CLI/project options, and PyCOLMAP.Validation
Built COLMAP and PyCOLMAP from this branch in a Linux CPU-only environment (GCC 11.4, Ceres 2.2.0, Python 3.10).
ctest --test-dir build-cpu --output-on-failure -R '^controllers/(incremental_pipeline_test|option_manager_test)$': 40 tests passed across the two executables.python -m pytest src/pycolmap/sfm src/pycolmap/estimators/bundle_adjustment_test.py: 107 passed, including all 36 incremental-mapper cases.colmap mapper -hexposes the five new options with unchanged defaults.git diff --checkpass.CUDA solver execution/performance and the full repository suite were not tested.